diff --git a/README.md b/README.md
index 4d6846d..4533c50 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,8 @@
 
 # Overview
 
-The *stretch_ros* repository holds ROS related code for the Stretch RE1 mobile manipulator from Hello Robot Inc. For an overview of the capabilities in this repository, we recommend you look at the following forum post: https://forum.hello-robot.com/t/autonomy-video-details
+The *stretch_ros* repository holds ROS related code for the Stretch RE1 mobile manipulator from Hello Robot Inc. 
+For an overview of the capabilities in this repository, we recommend you look at the [following forum post](https://forum.hello-robot.com/t/autonomy-video-details).
 
 **Please be aware that the code in this repository is currently under heavy development.** 
 
diff --git a/docs/extra.css b/docs/extra.css
new file mode 100644
index 0000000..1975704
--- /dev/null
+++ b/docs/extra.css
@@ -0,0 +1,33 @@
+[data-md-color-primary=hello-robot-light]{
+  --md-primary-fg-color: #122837;
+  --md-primary-fg-color--light: hsla(0,0%, 100%, 0.7);
+  --md-primary-fg-color--dark: hsla(0, 0%, 0%, 0.07);
+  --md-primary-bg-color: hsla(341, 85%, 89%, 1.0);
+  --md-typeset-a-color: #0550b3;
+  --md-code-hl-number-color: hsla(196, 86%, 29%, 1);
+}
+[data-md-color-primary=hello-robot-dark]{
+  --md-primary-fg-color: #122837;
+  --md-primary-fg-color--light: hsla(0,0%, 100%, 0.7);
+  --md-primary-fg-color--dark: hsla(0, 0%, 0%, 0.07);
+  --md-primary-bg-color: hsla(341, 85%, 89%, 1.0);
+  --md-typeset-a-color: hsla(341, 85%, 89%, 1.0);
+  --md-code-hl-number-color: hsla(196, 86%, 29%, 1);
+}
+
+
+[data-md-color-scheme="slate"] {
+  --md-hue: 210; /* [0, 360] */
+}
+
+/*
+Tables set to 100% width
+*/
+
+.md-typeset__table {
+    min-width: 100%;
+}
+
+.md-typeset table:not([class]) {
+    display: table;
+}
diff --git a/images/hello_robot_favicon.png b/images/hello_robot_favicon.png
new file mode 100644
index 0000000..1ae5623
Binary files /dev/null and b/images/hello_robot_favicon.png differ
diff --git a/images/hello_robot_logo_light.png b/images/hello_robot_logo_light.png
new file mode 100644
index 0000000..7263472
Binary files /dev/null and b/images/hello_robot_logo_light.png differ
diff --git a/mkdocs.yml b/mkdocs.yml
new file mode 100644
index 0000000..0da94b7
--- /dev/null
+++ b/mkdocs.yml
@@ -0,0 +1,96 @@
+site_name: Stretch ROS
+site_url: https://docs.hello-robot.com/stretch_ros
+site_description: "Hello Robot Stretch ROS Documentation"
+copyright: 'Copyright © 2022 Hello Robot Inc'
+site_author: Hello Robot Inc
+use_directory_urls: True
+docs_dir: .
+site_dir: ../site
+
+theme:
+ name: material
+ #font: Arial
+ palette:
+  - scheme: default
+    primary: hello-robot-light
+    toggle:
+      icon: material/lightbulb-outline
+      name: Switch to dark mode
+  - scheme: slate
+    primary: hello-robot-dark
+    toggle:
+      icon: material/lightbulb
+      name: Switch to light mode
+ logo: images/hello_robot_logo_light.png
+ favicon: images/hello_robot_favicon.png
+ features:
+  - navigation.instant
+
+extra_css:
+  - ./docs/extra.css
+
+markdown_extensions:
+  - pymdownx.highlight
+  - pymdownx.superfences
+  - pymdownx.inlinehilite
+  - pymdownx.keys
+  - admonition
+
+plugins:
+  - same-dir
+#  - simple:
+#      merge_docs_dir: true
+#      include_extensions: [".css", ".png"]
+#      include_folders: ['../hello_helpers']
+  - mike:
+      # these fields are all optional; the defaults are as below...
+      version_selector: true   # set to false to leave out the version selector
+      css_dir: css             # the directory to put the version selector's CSS
+      javascript_dir: js       # the directory to put the version selector's JS
+      canonical_version: null  # the version for <link rel="canonical">; `null`
+      # uses the version specified via `mike deploy`
+  - search
+  - tags
+  - mkdocstrings:
+      default_handler: python
+      handlers:
+        python:
+          selection:
+            docstring_style: numpy
+          rendering:
+            show_root_heading: true
+            show_source: false
+            members_order: source
+            heading_level: 3
+            show_if_no_docstring: true
+
+extra:
+  version:
+    provider: mike
+    default: latest
+  social:
+    - icon: material/home
+      link: https://hello-robot.com
+    - icon: material/twitter
+      link: https://twitter.com/HelloRobotInc
+    - icon: material/github
+      link: https://github.com/hello-robot
+    - icon: material/linkedin
+      link: https://linkedin.com/company/hello-robot-inc
+
+nav:
+ - Overview: README.md
+ - Packages:
+    - hello_helpers: ./hello_helpers/README.md
+    - stretch_calibration: ./stretch_calibration/README.md
+    - stretch_core: ./stretch_core/README.md
+    - stretch_deep_perception: ./stretch_deep_perception/README.md
+    - stretch_demos: ./stretch_demos/README.md
+    - stretch_description: ./stretch_description/README.md
+    - stretch_funmap: ./stretch_funmap/README.md
+    - stretch_gazebo: ./stretch_gazebo/README.md
+    - stretch_moveit_config: ./stretch_moveit_config/README.md
+    - stretch_navigation: ./stretch_navigation/README.md
+
+
+